MSG_DCM_ORIEN

MSG_DCM_ORIEN
Packet ID	0x65
Length	36
Read / Write	Read
Offset	Size	Format	Field	Unit	Description
0	4	float32_t	DCM[0][0]		方向余弦矩阵
4	4	float32_t	DCM[0][1]		方向余弦矩阵
8	4	float32_t	DCM[0][2]		方向余弦矩阵
12	4	float32_t	DCM[1][0]		方向余弦矩阵
16	4	float32_t	DCM[1][1]		方向余弦矩阵
20	4	float32_t	DCM[1][2]		方向余弦矩阵
24	4	float32_t	DCM[2][0]		方向余弦矩阵
28	4	float32_t	DCM[2][1]		方向余弦矩阵
32	4	float32_t	DCM[2][2]		方向余弦矩阵

DCM公式如下：

DCM[0][0] = cos(heading) * cos(pitch)

DCM[0][1] = sin(heading) * cos(pitch)

DCM[0][2] = -sin(pitch)

DCM[1][0] = -sin(heading) * cos(roll) + cos(heading) * sin(pitch) * sin(roll)

DCM[1][1] = cos(heading) * cos(roll) + sin(heading) * sin(pitch) * sin(roll)

DCM[1][2] = cos(pitch) * sin(roll)

DCM[2][0] = sin(heading) * sin(roll) + cos(heading) * sin(pitch) * cos(roll)

DCM[2][1] = -cos(heading) * sin(roll) + sin(heading) * sin(pitch) * cos(roll)

DCM[2][2] = cos(pitch) * cos(roll)